| 12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849505152535455565758596061 | // Ceres Solver - A fast non-linear least squares minimizer// Copyright 2015 Google Inc. All rights reserved.// http://ceres-solver.org///// Redistribution and use in source and binary forms, with or without// modification, are permitted provided that the following conditions are met://// * Redistributions of source code must retain the above copyright notice,//   this list of conditions and the following disclaimer.// * Redistributions in binary form must reproduce the above copyright notice,//   this list of conditions and the following disclaimer in the documentation//   and/or other materials provided with the distribution.// * Neither the name of Google Inc. nor the names of its contributors may be//   used to endorse or promote products derived from this software without//   specific prior written permission.//// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE// POSSIBILITY OF SUCH DAMAGE.//// Author: sameeragarwal@google.com (Sameer Agarwal)#include <algorithm>#include <string>#include "ceres/iteration_callback.h"#include "ceres/types.h"namespace ceres {namespace internal {template <typename SummaryType>bool IsSolutionUsable(const SummaryType& summary) {  return (summary.termination_type == CONVERGENCE ||          summary.termination_type == NO_CONVERGENCE ||          summary.termination_type == USER_SUCCESS);}template <typename SummaryType>void SetSummaryFinalCost(SummaryType* summary) {  summary->final_cost = summary->initial_cost;  // We need the loop here, instead of just looking at the last  // iteration because the minimizer maybe making non-monotonic steps.  for (int i = 0; i < summary->iterations.size(); ++i) {    const IterationSummary& iteration_summary = summary->iterations[i];    summary->final_cost = std::min(iteration_summary.cost, summary->final_cost);  }}std::string VersionString();}  // namespace internal}  // namespace ceres
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